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Distributed control of uncertain multiagent systems for tracking a leader with unknown fractional‐order dynamics
Author(s) -
Shi Mengji,
Qin Kaiyu,
Liang Jie,
Liu Jun
Publication year - 2019
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4489
Subject(s) - parameterized complexity , mathematical proof , computer science , nonlinear system , multi agent system , tracking (education) , order (exchange) , control (management) , dynamics (music) , control theory (sociology) , adaptive control , variety (cybernetics) , mathematical optimization , mathematics , algorithm , artificial intelligence , psychology , pedagogy , physics , geometry , finance , quantum mechanics , acoustics , economics
Summary This paper proposes distributed adaptive cooperative control algorithms for second‐order agents to track a leader with unknown dynamics. The models of the followers and the leader are composed of uncertain nonlinear components. The order of the leader's dynamics is unknown and can be fractional. Only the single output information is shared among neighbored agents. To simplify the control design, linearly parameterized neural networks are used to approximate the unknown functions. We first present an adaptive control for leaderless consensus and then extend the method to the tracking problem. Thorough theoretical proofs as well as numerical simulation are included to verify the results. Compared with relevant literature, the new approach applies to a larger variety of systems because (i) knowledge about the structure of leader's model is unnecessary; (ii) the unknown functions in different agents' dynamics can be diverse and arbitrary, in other words, the algorithms apply to heterogeneous agents; (iii) the results can be simply used without parameter calculations.